Implantación de un Controlador para la Cinemática Inversa del Brazo Robot Mitsubishi RV-2AJ a través de una Tarjeta ARM y MatLab
The project involves the design and construction of a controller for handling the inverse and forward kinematics of the robot Mitsubishi RV-2AJ arm, it is located in the laboratories of the Salesian University in order to create a direct communication through an external card ARM and MatLab software...
| Autor Principal: | Cajamarca Peñafiel, Jorge Andres |
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| Otros Autores: | Portilla Vargas, Alexis David |
| Formato: | bachelorThesis |
| Idioma: | spa |
| Publicado: |
2017
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| Materias: | |
| Acceso en línea: |
http://dspace.ups.edu.ec/handle/123456789/13683 |
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| Sumario: |
The project involves the design and construction of a controller for handling the inverse and forward kinematics of the robot Mitsubishi RV-2AJ arm, it is located in the laboratories of the Salesian University in order to create a direct communication through an external card ARM and MatLab software.
This driver allows the user to manipulate the robot arm Mitsubishi RV-2AJ in two categories, by joints and coordinates, with a compact hardware and easy to use interface, the autonomy is given to the system delinking the use of a computer for manipulation.
To meet the objective was necessary to investigate the commands that recognizes the robot arm from its proprietary software called Ciros and analyze the algorithm sending and receiving the appropriate commands for each mode of motion and thus implement the tools of MatLab software and achieve communication direct.
The controller consists of the STM 32F42 Card, the same that is the responsible for performing serial communication with the arm, sending and receiving data, development of inverse and forward kinematics for the arm movement and execution of demos card. It has a 5-inch TFT resistive panel for the development of the user interface, power for the controller touch it is done through a lipo battery thus achieving greater autonomy. |
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